Waymo Open 데이터셋

  scenario_id - A unique string identifier for this scenario.
  timestamps_seconds - Repeated field containing timestamps for each step in the Scenario starting at zero.
  tracks - Repeated field containing tracks for each object.
  id - A unique numeric ID for each object.
  object_type - The type of object for this track (vehicle, pedestrian, or cyclist).
  states - Repeated field containing the state of the object for each time step containing its 3D position, velocity, heading, dimensions, and a valid flag.
  dynamic_map_states - Repeated field containing traffic signal states across time steps such that dynamic_map_states[i] occurs at timestamps_seconds[i]
    lane_states - Repeated field containing the set of traffic signal states and the IDs of lanes they control (indexes into the map_features field) for a given time step.
  map_features - Repeated field containing the set of map data for the scenario. This includes lane centers, lane boundaries, road boundaries, crosswalks, speed bumps, and stop signs. Map features are defined as 3D polylines or polygons. See the map proto definitions for full details.
  sdc_track_index - The track index of the autonomous vehicle in the scene.
  objects_of_interest - Repeated field containing indices into the tracks field of objects determined to have behavior that may be useful for research training.
  tracks_to_predict - Repeated field containing a set of indices into the tracks field indicating which objects must be predicted. This field is provided in the training and validation sets only. These are selected to include interesting behavior and a balance of object types.
  current_time_index - The index into timestamps_seconds for the current time. All steps before this index are history data and all steps after this index are future data. Predictions are to be made at the current time.

1:  Car
2:  Truck
3:  Bus
4:  Motorcyclist
5:  Bicyclist
6:  Pedestrian Sign
7:  Traffic Light
8:  Pole
9:  Construction Cone
10: Bicycle
11: Motorcycle
12: Building
13: Vegetation
14: Tree Trunk
15: Curb
16: Road
17: Lane Marker
18: Walkable
19: Sidewalk
20: Other Ground
21: Other Vehicle
22: Undefined

1: Vehicle
2: Pedestrian
3: Cyclist
4: Sign